Modeling of flexible elements in robotic systems for modular environments
Modeling of flexible elements in robotic systems for modular environments
复制标题
模块化环境的机器人系统中的灵活元件建模
DOI：
10.1109/iecon.1995.483347
复制
发表时间：
1995
期刊：
影响因子：
--
通讯作者：
S. Tosunoglu
中科院分区：
文献类型：
--
作者：
S. Tosunoglu
最近，机器人的模块化受到了相当大的关注。为了成功实施这样的架构，用户友好的模块化软件的开发变得至关重要。为了解决这个问题，需要一个模块化系统的模型，它可以：（1）以可接受的精度表示系统;（2）易于为不同的机器人配置进行重构。在这项研究中，作者开发了一个模块化机器人，可能有灵活的组件的动态模型。他们认为，柔性组件分布在整个系统中，使他们可以引起任何链接或联合偏转。该系统模型的格式，很容易借给自己的控制器设计。
Recently, modularity in robotics has received considerable attention. For successful implementation of such an architecture, development of user-friendly, modular software becomes crucial. In order to address this problem, a model of the modular system is needed that can: (1) represent the system with an acceptable accuracy; and (2) be easily restructured for different robot configurations. In this study, the authors develop a dynamic model for modular robots that may have flexible components. They consider that the flexible components are distributed throughout the system such that they can induce either link or joint deflections. The system model is derived in a format that readily lends itself to controller design.